State-of-the-art personal robots need to perform complex manipulation tasks to be viable in complex scenarios. However, many of these robots, like the PR2, use manipulators with high degrees of freedom. High degrees of freedom are desirable from a functionality standpoint, but make the learning task more difficult by adding a...
Air traffic flow management over the U.S. airpsace is a difficult problem. Current management approaches lead to hundreds of thousands of hours of delay, costing billions of dollars annually. Weather and airport conditions may instigate this delay, but routing decisions balancing delay with congestion contribute significantly to the propagation of...
This paper discusses the design, construction, and use of a prototype expert system shell, EXE. EXE is non-conventional in that it does not provide a traditional forward or backward chaining inference mechanism. Instead, it allows the domain expert to control the logic flow of the system in a dynamic fashion....
Population genetic techniques are now preeminent in differentiating wild populations. Natural resource managers rely on them in their efforts to restore viable populations of fish and wildlife. Overfishing adversely impacted Yelloweye Rockfish (Sebastes ruberrimus) on the U.S. West Coast in the late 20th century. Management actions included shutting down the...
Lymphoma (LSA) is one of the most common canine malignancies, and is almost invariably a terminal disease. Epigenetic changes in canine and human lymphomas have been linked to disease progression and poor prognosis, leading to the development of epigenetic-targeted therapies which have shown promise in treating various forms of human...
This thesis explores the challenges of monitoring stream hydrology in a warmer and wetter climate in the Kenai Peninsula (KP) and Prince William Sound (PWS) region of Southcentral Alaska, located on the traditional territories of the Dena’ina, Ahtna, Alutiiq/Sugpiaq, and Eyak People. The physical and climatological extremes of this region...
Robotic global navigation is often based on the assumption that the world is static. It assumes that obstacles present in maps will be there later and new obstacles will be dealt with by a local planning algorithm. When robots interact in an environment inhabited by people, this assumption does not...
Acute lymphoblastic leukemia (ALL) encompasses a spectrum of lymphoid progenitors that have undergone malignant transformation and clonal proliferation at various stages of differentiation. Some cases of ALL have been documented to have prenatal origins and in particular neonatal exposure to various environmental pollutants is associated with increased disease risk, including...
This thesis is an investigation of the natural products deriving from marine algae and cyanobacteria and has resulted in the discovery of eleven new secondary metabolites. The structure elucidations of these new molecules were performed using a variety of spectroscopic techniques. Four new macrolides were isolated and characterized from the...